Pure virtual interface class for the NodeParameters part of the Node API. More...

#include <rclcpp/node_interfaces/node_parameters_interface.hpp>

Inheritance diagram for rclcpp::node_interfaces::NodeParametersInterface:

Public Types
using	OnSetParametersCallbackType = OnSetParametersCallbackHandle::OnSetParametersCallbackType

using	PostSetParametersCallbackType = PostSetParametersCallbackHandle::PostSetParametersCallbackType

using	PreSetParametersCallbackType = PreSetParametersCallbackHandle::PreSetParametersCallbackType

Public Member Functions
virtual RCLCPP_PUBLIC const rclcpp::ParameterValue &	declare_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor=rcl_interfaces::msg::ParameterDescriptor(), bool ignore_override=false)=0
	Declare and initialize a parameter. More...

virtual RCLCPP_PUBLIC const rclcpp::ParameterValue &	declare_parameter (const std::string &name, rclcpp::ParameterType type, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor=rcl_interfaces::msg::ParameterDescriptor(), bool ignore_override=false)=0
	Declare a parameter. More...

virtual RCLCPP_PUBLIC void	undeclare_parameter (const std::string &name)=0
	Undeclare a parameter. More...

virtual RCLCPP_PUBLIC bool	has_parameter (const std::string &name) const =0
	Return true if the parameter has been declared, otherwise false. More...

virtual RCLCPP_PUBLIC std::vector< rcl_interfaces::msg::SetParametersResult >	set_parameters (const std::vector< rclcpp::Parameter > &parameters)=0
	Set one or more parameters, one at a time. More...

virtual RCLCPP_PUBLIC rcl_interfaces::msg::SetParametersResult	set_parameters_atomically (const std::vector< rclcpp::Parameter > &parameters)=0
	Set one or more parameters, all at once. More...

virtual RCLCPP_PUBLIC std::vector< rclcpp::Parameter >	get_parameters (const std::vector< std::string > &names) const =0
	Get descriptions of parameters given their names.

virtual RCLCPP_PUBLIC rclcpp::Parameter	get_parameter (const std::string &name) const =0
	Get the description of one parameter given a name.

virtual RCLCPP_PUBLIC bool	get_parameter (const std::string &name, rclcpp::Parameter &parameter) const =0
	Get the description of one parameter given a name.

virtual RCLCPP_PUBLIC bool	get_parameters_by_prefix (const std::string &prefix, std::map< std::string, rclcpp::Parameter > &parameters) const =0
	Get all parameters that have the specified prefix into the parameters map.

virtual RCLCPP_PUBLIC std::vector< rcl_interfaces::msg::ParameterDescriptor >	describe_parameters (const std::vector< std::string > &names) const =0

virtual RCLCPP_PUBLIC std::vector< uint8_t >	get_parameter_types (const std::vector< std::string > &names) const =0

virtual RCLCPP_PUBLIC rcl_interfaces::msg::ListParametersResult	list_parameters (const std::vector< std::string > &prefixes, uint64_t depth) const =0

virtual RCLCPP_PUBLIC PreSetParametersCallbackHandle::SharedPtr	add_pre_set_parameters_callback (PreSetParametersCallbackType callback)=0
	Add a callback that gets triggered before parameters are validated. More...

virtual RCLCPP_PUBLIC OnSetParametersCallbackHandle::SharedPtr	add_on_set_parameters_callback (OnSetParametersCallbackType callback)=0
	Add a callback to validate parameters before they are set. More...

virtual RCLCPP_PUBLIC PostSetParametersCallbackHandle::SharedPtr	add_post_set_parameters_callback (PostSetParametersCallbackType callback)=0
	Add a callback that gets triggered after parameters are set successfully. More...

virtual RCLCPP_PUBLIC void	remove_pre_set_parameters_callback (const PreSetParametersCallbackHandle *const handler)=0
	Remove a callback registered with `add_pre_set_parameters_callback`. More...

virtual RCLCPP_PUBLIC void	remove_on_set_parameters_callback (const OnSetParametersCallbackHandle *const handler)=0
	Remove a callback registered with `add_on_set_parameters_callback`. More...

virtual RCLCPP_PUBLIC void	remove_post_set_parameters_callback (const PostSetParametersCallbackHandle *const handler)=0
	Remove a callback registered with `add_post_set_parameters_callback`. More...

virtual RCLCPP_PUBLIC const std::map< std::string, rclcpp::ParameterValue > &	get_parameter_overrides () const =0
	Return the initial parameter values used by the NodeParameters to override default values.

virtual RCLCPP_PUBLIC void	enable_parameter_modification ()=0
	Enable parameter modification recursively during parameter callbacks. More...

Detailed Description

Pure virtual interface class for the NodeParameters part of the Node API.

Definition at line 70 of file node_parameters_interface.hpp.

Member Function Documentation

◆ add_on_set_parameters_callback()

virtual RCLCPP_PUBLIC OnSetParametersCallbackHandle::SharedPtr rclcpp::node_interfaces::NodeParametersInterface::add_on_set_parameters_callback ( OnSetParametersCallbackType callback )

pure virtual

Add a callback to validate parameters before they are set.

See also: rclcpp::Node::add_on_set_parameters_callback

Implemented in rclcpp::node_interfaces::NodeParameters.

◆ add_post_set_parameters_callback()

virtual RCLCPP_PUBLIC PostSetParametersCallbackHandle::SharedPtr rclcpp::node_interfaces::NodeParametersInterface::add_post_set_parameters_callback ( PostSetParametersCallbackType callback )

pure virtual

Add a callback that gets triggered after parameters are set successfully.

See also: rclcpp::Node::add_post_set_parameters_callback

Implemented in rclcpp::node_interfaces::NodeParameters.

◆ add_pre_set_parameters_callback()

virtual RCLCPP_PUBLIC PreSetParametersCallbackHandle::SharedPtr rclcpp::node_interfaces::NodeParametersInterface::add_pre_set_parameters_callback ( PreSetParametersCallbackType callback )

pure virtual

Add a callback that gets triggered before parameters are validated.

See also: rclcpp::Node::add_pre_set_parameters_callback

Implemented in rclcpp::node_interfaces::NodeParameters.

◆ declare_parameter() [1/2]

virtual RCLCPP_PUBLIC const rclcpp::ParameterValue& rclcpp::node_interfaces::NodeParametersInterface::declare_parameter	(	const std::string &	name,
		const rclcpp::ParameterValue &	default_value,
		const rcl_interfaces::msg::ParameterDescriptor &	parameter_descriptor = `rcl_interfaces::msg::ParameterDescriptor()`,
		bool	ignore_override = `false`
	)

pure virtual

Declare and initialize a parameter.

See also: rclcpp::Node::declare_parameter

Implemented in rclcpp::node_interfaces::NodeParameters.

◆ declare_parameter() [2/2]

virtual RCLCPP_PUBLIC const rclcpp::ParameterValue& rclcpp::node_interfaces::NodeParametersInterface::declare_parameter	(	const std::string &	name,
		rclcpp::ParameterType	type,
		const rcl_interfaces::msg::ParameterDescriptor &	parameter_descriptor = `rcl_interfaces::msg::ParameterDescriptor()`,
		bool	ignore_override = `false`
	)

pure virtual

Declare a parameter.

See also: rclcpp::Node::declare_parameter

Implemented in rclcpp::node_interfaces::NodeParameters.

◆ enable_parameter_modification()

virtual RCLCPP_PUBLIC void rclcpp::node_interfaces::NodeParametersInterface::enable_parameter_modification ( )

pure virtual

Enable parameter modification recursively during parameter callbacks.

This function is used to enable parameter modification during parameter callbacks.

There are times when it does not allow parameter modification, such as when the parameter callbacks are being called and tries to modify the parameters with set_parameter and declare_parameter to avoid recursive parameter modification. This is protected by rclcpp::node_interfaces::ParameterMutationRecursionGuard.

This function is explicitly called to allow the recursive parameter operation during parameter callbacks by the application. Once it is enabled, the next parameter operation set/declare/undeclare_parameter are allowed to execute in the parameter callback. But, no more further recursive operation is allowed, unless user application calls this API again.

Implemented in rclcpp::node_interfaces::NodeParameters.

◆ has_parameter()

virtual RCLCPP_PUBLIC bool rclcpp::node_interfaces::NodeParametersInterface::has_parameter ( const std::string & name ) const

pure virtual

Return true if the parameter has been declared, otherwise false.

See also: rclcpp::Node::has_parameter

Implemented in rclcpp::node_interfaces::NodeParameters.

◆ remove_on_set_parameters_callback()

virtual RCLCPP_PUBLIC void rclcpp::node_interfaces::NodeParametersInterface::remove_on_set_parameters_callback ( const OnSetParametersCallbackHandle *const handler )

pure virtual

Remove a callback registered with add_on_set_parameters_callback.

See also: rclcpp::Node::remove_on_set_parameters_callback

Implemented in rclcpp::node_interfaces::NodeParameters.

◆ remove_post_set_parameters_callback()

virtual RCLCPP_PUBLIC void rclcpp::node_interfaces::NodeParametersInterface::remove_post_set_parameters_callback ( const PostSetParametersCallbackHandle *const handler )

pure virtual

Remove a callback registered with add_post_set_parameters_callback.

See also: rclcpp::Node::remove_post_set_parameters_callback

Implemented in rclcpp::node_interfaces::NodeParameters.

◆ remove_pre_set_parameters_callback()

virtual RCLCPP_PUBLIC void rclcpp::node_interfaces::NodeParametersInterface::remove_pre_set_parameters_callback ( const PreSetParametersCallbackHandle *const handler )

pure virtual

Remove a callback registered with add_pre_set_parameters_callback.

See also: rclcpp::Node::remove_pre_set_parameters_callback

Implemented in rclcpp::node_interfaces::NodeParameters.

◆ set_parameters()

virtual RCLCPP_PUBLIC std::vector<rcl_interfaces::msg::SetParametersResult> rclcpp::node_interfaces::NodeParametersInterface::set_parameters ( const std::vector< rclcpp::Parameter > & parameters )

pure virtual

Set one or more parameters, one at a time.

See also: rclcpp::Node::set_parameters

Implemented in rclcpp::node_interfaces::NodeParameters.

◆ set_parameters_atomically()

virtual RCLCPP_PUBLIC rcl_interfaces::msg::SetParametersResult rclcpp::node_interfaces::NodeParametersInterface::set_parameters_atomically ( const std::vector< rclcpp::Parameter > & parameters )

pure virtual

Set one or more parameters, all at once.

See also: rclcpp::Node::set_parameters_atomically

Implemented in rclcpp::node_interfaces::NodeParameters.

◆ undeclare_parameter()

virtual RCLCPP_PUBLIC void rclcpp::node_interfaces::NodeParametersInterface::undeclare_parameter ( const std::string & name )

pure virtual

Undeclare a parameter.

See also: rclcpp::Node::undeclare_parameter

Implemented in rclcpp::node_interfaces::NodeParameters.

The documentation for this class was generated from the following file:

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

Public Types

Public Member Functions

Detailed Description

Member Function Documentation

◆ add_on_set_parameters_callback()

◆ add_post_set_parameters_callback()

◆ add_pre_set_parameters_callback()

◆ declare_parameter() [1/2]

◆ declare_parameter() [2/2]

◆ enable_parameter_modification()

◆ has_parameter()

◆ remove_on_set_parameters_callback()

◆ remove_post_set_parameters_callback()

◆ remove_pre_set_parameters_callback()

◆ set_parameters()

◆ set_parameters_atomically()

◆ undeclare_parameter()